/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIM_SIMULATOR_ODEDEBUGRENDER_HPP_
#define RWSIM_SIMULATOR_ODEDEBUGRENDER_HPP_

#include <rwsim/drawable/SimulatorDebugRender.hpp>

namespace rwsim { namespace simulator {

    class ODESimulator;

    class ODEDebugRender : public drawable::SimulatorDebugRender
    {
        ODESimulator* _sim;
        unsigned int _drawMask;

      public:
        ODEDebugRender (ODESimulator* sim) : _sim (sim) {}

        virtual ~ODEDebugRender () {}

        virtual void draw (const rw::graphics::DrawableNode::RenderInfo& info, DrawType draw,
                           double alpha) const;

        virtual void setDrawMask (unsigned int mask) { _drawMask = mask; }
    };

}}    // namespace rwsim::simulator

#endif /* ODEDEBUGRENDER_HPP_ */
